Abstract
The estimation of road excitation profile is important for evaluation of vehicle stability and vehicle suspension performance for autonomous vehicle control systems. In this work, the nonlinear dynamics of the active automotive system that is excited by the unknown road excitation profile are considered for modeling. To address the issue of estimation of road profile, we develop an adaptive supertwisting observer for state and unknown road profile estimation. Under Lipschitz conditions for the nonlinear functions, the convergence of the estimation error is proven. Simulation results with Ford Fiesta MK2 demonstrate the effectiveness of the proposed observer for state and unknown input estimation for nonlinear active suspension system.
Highlights
The automotive vehicle suspension dynamics contribute significantly in evaluating the effective performance with regard to passenger comfort, road handling, and stability of the vehicle [1]
As the vehicle operating range varies, analysis of the nonlinear dynamics of the suspension system excited by the road profile is one of the major domains of research for suspension systems
The active suspension dynamics are affected by the road profile requiring control of the effective damping force needed to be provided by the actuator for good handling of the vehicle [1], ride performance, and road stability
Summary
The automotive vehicle suspension dynamics contribute significantly in evaluating the effective performance with regard to passenger comfort, road handling, and stability of the vehicle [1]. Effective analysis of the suspension performance provides information regarding the vertical load acting on the vehicle, a critical component in determining the effective tractive force [3] In such scenarios, the suspension system dynamics that replicate the behavior of mass spring damper system [3] are complex to analyze when nonlinear behavior of the spring and the damper systems are considered. By measurement of the vertical velocities, the road profile and the tire forces were estimated All these works [7,8,9] did not consider the nonlinear dynamics of the suspension system. For the subsystem affected by the unknown input, an adaptive STA based observer is designed to ensure the stability of the error dynamics of the subsystem in finite time.
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